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A geodesic feedback law to decouple the full and reduced attitude
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.).
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2017 (English)In: Systems & control letters (Print), ISSN 0167-6911, E-ISSN 1872-7956, Vol. 102, p. 32-41Article in journal (Refereed) Published
Abstract [en]

This paper presents a novel approach to the problem of almost global attitude stabilization. The reduced attitude is steered along a geodesic path on the n - 1-sphere. Meanwhile, the full attitude is stabilized on SO(n). This action, essentially two maneuvers in sequel, is fused into one smooth motion. Our algorithm is useful in applications where stabilization of the reduced attitude takes precedence over stabilization of the full attitude. A two parameter feedback gain affords further trade-offs between the full and reduced attitude convergence speed. The closed loop kinematics on SO(3) are solved for the states as functions of time and the initial conditions, providing precise knowledge of the transient dynamics. The exact solutions also help us to characterize the asymptotic behavior of the system such as establishing the region of attraction by straightforward evaluation of limits. The geometric flavor of these ideas is illustrated by a numerical example.

Place, publisher, year, edition, pages
Elsevier, 2017. Vol. 102, p. 32-41
Keywords [en]
Attitude control, Reduced attitude, Geodesics, Exact solutions, Special orthogonal group
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-207709DOI: 10.1016/j.sysconle.2017.01.005ISI: 000399862600005Scopus ID: 2-s2.0-85012131906OAI: oai:DiVA.org:kth-207709DiVA, id: diva2:1098497
Funder
Swedish Foundation for Strategic Research Swedish Research Council
Note

QC 20170524

Available from: 2017-05-24 Created: 2017-05-24 Last updated: 2017-11-10Bibliographically approved

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Hoppe, JensHu, Xiaoming

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf